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TECHNICAL PAPERS

A Repetitive Learning Method Based on Sliding Mode for Robot Control

[+] Author and Article Information
T. S. Liu, W. S. Lee

Department of Mechanical Engineering, National Chiao Tung University, Hsinchu 30010, Taiwane-mail: tsliu@cc.nctu.edu.tw

J. Dyn. Sys., Meas., Control 122(1), 40-48 (Apr 15, 1999) (9 pages) doi:10.1115/1.482427 History: Received April 15, 1999
Copyright © 2000 by ASME
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References

Arimoto,  S., Kawamura,  S., and Miyazaki,  F., 1984, “Bettering Operation of Robots by Learning,” J. Robotic Systems, 1, No. 2, pp. 123–140.
Kwong, W. A., and Passino, K. M., 1995, “Dynamically Focused Fuzzy Learning Control,” Proc. American Control Conf., pp. 3755–3759.
Teshnehlab,  M., and Watanabe,  K., 1995, “Flexible Structural Learning Control of a Robotic Manipulator Using Artificial Neural Networks,” JSME Int. J., Series C, 38, No. 3, pp. 510–521.
Yang, B. H., and Asada, H., 1995, “Progressive Learning for Robotic Assembly: Learning Impedance with an Excitation Scheduling Method,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2538–2544.
Horowitz,  R., 1993, “Learning Control of Robot Manipulators,” ASME J. Dyn. Syst., Meas., Control, 115, No. 2(B), pp. 402–411.
Messner,  W., Horowitz,  R., Kao,  W. W., and Boals,  M., 1991, “A New Adaptive Learning Rule,” IEEE Trans. Autom. Control., 36, No. 2, pp. 188–197.
Guglielmo,  K., and Sadegh,  N., 1996, “Theory and Implementation of a Repetitive Robot Controller with Cartesian Trajectory Description,” ASME J. Dyn. Syst., Meas., Control, 118, No. 1, pp. 15–21.
Guvenc,  L., 1996, “Stability and Performance Robustness Analysis of Repetitive Control Systems Using Structured Singular Values,” ASME J. Dyn. Syst., Meas., Control, 118, No. 3, pp. 593–597.
Emelyanov, S. V., 1967, Variable Structure Control Systems, Nauka, Moscow (in Russian).
Slotine, J.-J. E., and Li, W., 1991, Applied Nonlinear Control, Prentice-Hall, Englewood Cliffs, N.J.
Gao,  W., and Hung,  J. C., 1993, “Variable Structure Control of Nonlinear System: A New Approach,” IEEE Trans. Ind. Electron., 40, No. 1, pp. 45–56.
Strang, G., 1980, Linear Algebra and Its Applications, 2nd ed., Academic, Press.
Burton,  J. A., and Zinober,  A. S. I., 1986, “Continous Approximation of Variable Structure Control,” Int. J. Syst. Sci., 17, No. 6, pp. 876–885.
NSK Corporation, 1989, Megatorque Motor System: User’s Manual, Tokyo, Japan.
Sadegh,  N., Horowitz,  R., and Tomizuka,  M., 1990, “A Unified Approach to Design of Adaptive and Repetitive Controllers for Robotic Manipulator,” ASME J. Dyn. Syst., Meas., Control, 112, No. 4, pp. 618–629.

Figures

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Schematic diagram of direct-drive robot
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Piecewise linear shape functions
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The piecewise linear kernel function
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(a) Speed profile of end-effector and (b) corresponding acceleration profile
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Desired spatial circular trajectory
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Control block diagram of the present method
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Position errors in Z-axis using (a) sliding mode control and (b) the present method
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Sliding variables in R-axis using (a) sliding mode control and (b) the present method
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Tracking result of the first time learning in Y-Z plane
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Tracking result of the fifth time learning in Y-Z plane
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Position errors in Z-axis using (a) sliding mode control and (b) the present method
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Tracking result of the first time learning in X-Z plane
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Tracking result of the fifth time learning in X-Z plane

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